Biosonar signal propagation in the harbor porpoise's (Phocoena phocoena) head: The role of various structures in the formation of the vertical beam

From the morphospace to the soundscape: Exploring the diversity and functional morphology of the fish inner ear, with a focus on elasmobranchsa)

Fishes, including elasmobranchs (sharks, rays, and skates), present an astonishing diversity in inner ear morphologies; however, the functional significance of these variations and how they confer auditory capacity is yet to be resolved. The relationship between inner ear structure and hearing performance is unclear, partly because most of the morphological and biomechanical mechanisms that underlie the hearing functions are complex and poorly known. Here, we present advanced opportunities to document discontinuities in the macroevolutionary trends of a complex biological form, like the inner ear, and test hypotheses regarding what factors may be driving morphological diversity. Three-dimensional (3D) bioimaging, geometric morphometrics, and finite element analysis are methods that can be combined to interrogate the structure-to-function links in elasmobranch fish inner ears. In addition, open-source 3D morphology datasets, advances in phylogenetic comparative methods, and methods for the analysis of highly multidimensional shape data have leveraged these opportunities. Questions that can be explored with this toolkit are identified, the different methods are justified, and remaining challenges are highlighted as avenues for future work.

Sound Reception in the Yangtze Finless Porpoise and Its Extension to a Biomimetic Receptor

Sound reception was investigated in the Yangtze finless porpoise (Neophocaena phocaenoides asiaeorientalis) at its most sensitive frequency. The computed tomography scanning, sound speed, and density results were used to develop a three-dimensional numerical model of the porpoise sound-reception system. The acoustic fields showed that sounds can reach the ear complexes from various pathways, with distinct receptivity peaks on the forward, left, and right sides. Reception peaks were identified on the ipsilateral sides of the respective ears and found on the opposite side of the ear complexes. These opposite maxima corresponded to subsidiary hearing pathways in the whole head, especially the lower head, suggesting the complexity of the sound-reception mechanism in the porpoise. The main and subsidiary sound-reception pathways likely render the whole head a spatial receptor. The low-speed and -density mandibular fats, compared to other acoustic structures, are significant energy enhancers for strengthening forward sound reception. Based on the porpoise reception model, a biomimetic receptor was developed to achieve directional reception, and in parallel to the mandibular fats, the silicon material of low speed and density can significantly improve forward reception. This bioinspired and biomimetic model can bridge the gap between animal sonar and artificial sound control systems, which presents potential to be exploited in manmade sonar.

Does rotation increase the acoustic field of view? Comparative models based on CT data of a live dolphin versus a dead dolphin

Rotational behaviour has been observed when dolphins track or detect targets, however, its role in echolocation is unknown. We used computed tomography data of one live and one recently deceased bottlenose dolphin, together with measurements of the acoustic properties of head tissues, to perform acoustic property reconstruction. The anatomical configuration and acoustic properties of the main forehead structures between the live and deceased dolphins were compared. Finite element analysis (FEA) was applied to simulate the generation and propagation of echolocation clicks, to compute their waveforms and spectra in both near- and far-fields, and to derive echolocation beam patterns. Modelling results from both the live and deceased dolphins were in good agreement with click recordings from other, live, echolocating individuals. FEA was also used to estimate the acoustic scene experienced by a dolphin rotating 180° about its longitudinal axis to detect fish in the far-field at elevation angles of -20° to 20°. The results suggest that the rotational behaviour provides a wider insonification area and a wider receiving area. Thus, it may provide compensation for the dolphin's relatively narrow biosonar beam, asymmetries in sound reception, and constraints on the pointing direction that are limited by head movement. The results also have implications for examining the accuracy of FEA in acoustic simulations using recently deceased specimens.

The Distinctive Forehead Cleft of the Risso's Dolphin (Grampus griseus) Hardly Affects Biosonar Beam Formation

The Risso's dolphin (Grampus griseus) has a distinctive vertical crease (or cleft) along the anterior surface of the forehead. Previous studies have speculated that the cleft may contribute to biosonar beam formation. To explore this, we constructed 2D finite element models based on computer tomography data of the head of a naturally deceased Risso's dolphin. The simulated acoustic near-field signals, far-field signals, and transmission beam patterns were compared to corresponding measurements from a live, echolocating Risso's dolphin. To investigate the effect of the cleft, we filled the cleft with neighboring soft tissues in our model, creating a hypothetical "cleftless" forehead, as found in other odontocetes. We compared the acoustic pressure field and the beam pattern between the clefted and cleftless cases. Our results suggest that the cleft plays an insignificant role in forehead biosonar sound propagation and far-field beam formation. Furthermore, the cleft was not responsible for the bimodal click spectrum recorded and reported from this species.

Numerical modeling of the impacts of acoustic stimulus on fish otoliths from two directions

Previous experiments have shown (1) evidence that exposure to high-intensity sounds (e.g., air-gun signals) may cause damage to the sensory hair cells of the fish ears and impair fish hearing and (2) evidence that in some circumstances such exposures cause minimal structural damage. The contradictory results regarding the damage accrued suggested that the angle of sound energy arrivals at the fish ears may play a part in the propensity of the sound to cause damage to sensory hair cells. To further study this and gain insight into specific details of the differential motion of the otolith relative to the sensory macula when incident sounds arrive from different directions, three-dimensional finite element models were constructed based on the micro-computed tomography imaging of the sagittal otoliths of the bight redfish (Centroberyx gerrardi). We used the models to study the response of fish sagittal otoliths to sounds arriving from horizontal and vertical directions. Sound pressure levels, relative displacement, acceleration, and shear stress of the otoliths and/or otolith-water boundary were calculated and compared. The results suggest that the angle of sound energy arrivals at the otoliths and the geometry of the otolith lead to different magnitudes of the differential motion between the macula and otoliths, with sound arriving in the vertical potentially creating more damage than the same sound arriving from the horizontal.

Investigation on whistle directivity in the Indo-Pacific humpback dolphin (Sousa chinensis) through numerical modeling

Odontocetes have evolved special acoustic structures in the forehead to modulate echolocation and communication signals into directional beams to facilitate feeding and social behaviors. Whistle directivity was addressed for the Indo-Pacific humpback dolphin (Sousa chinensis) by developing numerical models in the current paper. Directivity was first examined at the fundamental frequency 5 kHz, and simulations were then extended to the harmonics of 10, 15, 20, 25, and 30 kHz. At 5 kHz, the -3 dB beam widths in the vertical and horizontal planes were 149.3° and 119.4°, corresponding to the directivity indexes (DIs) of 4.4 and 5.4 dB, respectively. More importantly, we incorporated directivity of the fundamental frequency and harmonics to produce an overall beam, resulting in -3 dB beam widths of 77.2° and 62.9° and DIs of 8.2 and 9.7 dB in the vertical and horizontal planes, respectively. Harmonics can enhance the directivity of fundamental frequency by 3.8 and 4.3 dB, respectively. These results suggested the transmission system can modulate whistles into directional projection, and harmonics can improve DI.

Numerical-modeling-based investigation of sound transmission and reception in the short-finned pilot whale (Globicephala macrorhynchus)

The sound-transmission, beam-formation, and sound-reception processes of a short-finned pilot whale (Globicephala macrorhynchus) were investigated using computed tomography (CT) scanning and numerical simulation. The results showed that sound propagations in the forehead were modulated by the upper jaw, air components, and soft tissues, which attributed to the beam formation in the external acoustic field. These structures owned different acoustic impedance and formed a multiphasic sound transmission system that can modulate sounds into a beam. The reception pathways composed of the solid mandible and acoustic fats in the lower head conducted sounds into the tympano-periotic complex. In the simulations, sounds were emitted in the forehead transmission system and propagated into water to interrogate a steel cylinder. The resulting echoes can be interpreted from multiple perspectives, including amplitude, waveform, and spectrum, to obtain the acoustic cues of the steel cylinder. By taking the short-finned pilot whale as an example, this study provides meaningful information to further deepen our understanding of biosonar system operations, and may expand sound-reception theory in odontocetes.

Head adaptation for sound production and feeding strategy in dolphins (Odontoceti: Delphinida)

Head morphology in toothed whales evolved under selective pressures on feeding strategy and sound production. The postnatal development of the skull (n = 207) and mandible (n = 219) of six Delphinida species which differ in feeding strategy but exhibit similar sound emission patterns, including two narrow-band high-frequency species, were investigated through 3D morphometrics. Morphological changes throughout ontogeny were demonstrated based on the main source of variation (i.e., prediction lines) and the common allometric component. Multivariate trajectory analysis with pairwise comparisons between all species was performed to evaluate specific differences on the postnatal development of skulls and mandibles. Changes in the rostrum formation contributed to the variation (skull: 49%; mandible: 90%) of the entire data set and might not only reflect the feeding strategy adopted by each lineage but also represents an adaptation for sound production and reception. As an important structure for directionality of sound emissions, this may increase directionality in raptorial feeders. Phylogenetic generalized least squares analyses indicated that shape of the anterior portion of the skull is strongly dependent on phylogeny and might not only reflect feeding mode, but also morphological adaptations for sound production, particularly in raptorial species. Thus, postnatal development seems to represent a crucial stage for biosonar maturation in some raptorial species such as Pontoporia blainvillei and Sousa plumbea. The ontogeny of their main tool for navigation and hunting might reflect their natural history peculiarities and thus potentially define their main vulnerabilities to anthropogenic changes in the environment.

Possible limitations of dolphin echolocation: a simulation study based on a cross-modal matching experiment

Dolphins use their biosonar to discriminate objects with different features through the returning echoes. Cross-modal matching experiments were conducted with a resident bottlenose dolphin (Tursiops aduncus). Four types of objects composed of different materials (water-filled PVC pipes, air-filled PVC pipes, foam ball arrays, and PVC pipes wrapped in closed-cell foam) were used in the experiments, respectively. The size and position of the objects remained the same in each case. The data collected in the experiment showed that the dolphin’s matching accuracy was significantly different across the cases. To gain insight into the underlying mechanism in the experiments, we used finite element methods to construct two-dimensional target detection models of an echolocating dolphin in the vertical plane, based on computed tomography scan data. The acoustic processes of the click’s interaction with the objects and the surrounding media in the four cases were simulated and compared. The simulation results provide some possible explanations for why the dolphin performed differently when discriminating the objects that only differed in material composition in the previous matching experiments.

Modeling of the near to far acoustic fields of an echolocating bottlenose dolphin and harbor porpoise

Echolocation signals emitted by odontocetes can be roughly classified into three broad categories: broadband echolocation signals, narrowband high-frequency echolocation signals, and frequency modulated clicks. Previous measurements of broadband echolocation signal propagation in the bottlenose dolphin (Tursiops truncatus) did not find any evidence of focusing as the signals travel from the near-field to far-field. Finite element analysis (FEA) of high-resolution computed tomography scan data was used to examine signal propagation of broadband echolocation signals of dolphins and narrowband echolocation signals of porpoises. The FEA results were used to simulate the propagation of clicks from phonic lips, traveling through the forehead, and finally transmission into the water. Biosonar beam formation in the near-field and far-field, including the amplitude contours for the two species, was determined. The finite element model result for the simulated amplitude contour in the horizontal plane was consistent with prior direct measurement results for Tursiops, validating the model. Furthermore, the simulated far-field transmission beam patterns in both the vertical and horizontal planes were also qualitatively consistent with results measured from live animals. This study indicates that there is no evidence of convergence for either Tursiops or Phocoena as the sound propagates from the near-field to the far-field.

Acoustic reflectivity of a harbor porpoise (Phocoena phocoena)

Acoustic backscatter measurements were conducted on a stationary harbor porpoise (Phocoena phocoena) under controlled conditions. The measurements were made with the porpoise in the broadside aspect using three different types of signals: (1) a 475 μs linear frequency-modulated (FM) pulse with a frequency range from 23 to 160 kHz; (2) a simulated bottlenose dolphin (Tursiops "truncates") click with a peak frequency of 120 kHz; and (3) a simulated killer whale (Orcinus orca) click with a peak frequency of 60 kHz. The measurement with the FM pulse indicated that the mean target strength at the broadside aspect decreased from -26 to -50 dB as the frequency increased from 23 to 120 kHz in a nearly linear fashion (on a logarithm plot). Target strength variation with frequency was similar to a previous backscatter measurement on a bottlenose dolphin over a comparable frequency range (23-80 kHz). The porpoise seems to be a stealth body with low backscatter properties. The target strength of the porpoise was also about 15-16 dB lower than that of the bottlenose dolphin. The difference in lung volume of the two species when expressed in dB was also approximately 15 dB.

Ontogeny and evolution of the sound-generating structures in the infraorder Delphinida (Odontoceti: Delphinida)

The ontogeny of the structures involved in sound generation and modulation in dolphins was investigated through a comparison of the soft nasal structures of foetal, perinatal, neonatal and adult specimens of Pontoporiidae, Phocoenidae and Delphinidae. Foetal samples were sectioned at 10 µm in the saggital and coronal planes, and stained for histological examination. Computed tomography and magentic resonance imaging scan series were combined with new data to represent the ontogenetic stages of the three groups. The images were analysed in 3D-Slicer to characterize the general head topography. The origins of the melon and the vestibular air sac were detected between Carnegie stages C16 and F22. The three groups analysed showed distinct formation of the nasal plug and nasal plug muscles, mainly with regard to the loss of fat pathways (or their maintenance in Pontoporiidae) and the development of the nasal plug muscles on both sides (during perinatal development of Phocoenidae) or just on the left side (during postnatal development in Delphinidae). Broadband vocalizing delphinidans might have evolved under heterochronic events acting on the formation of sound-generating structures such as the rostrum and vestibular air sacs, and on the transformation of the branches of the melon, probably leading to a reduced directionality of the sonar beam.

A biosonar model of finless porpoise (Neophocaena phocaenoides) for material composition discrimination of cylinders

Research into the physical mechanism of odontocetes biosonar has made great progress in the past several decades, especially on wave propagation and biosonar beam formation in the foreheads of odontocetes. Although a number of experimental studies have been performed, the physical mechanism of odontocetes underwater target discrimination has not yet been fully understood. Previous research has experimentally studied the finless porpoise's target discrimination using cylinders different in material [Nakahara, Takemura, Koido, and Hiruda (1997). Mar. Mamm. Sci. 13(4), 639-649]. The authors proposed a computed tomography based finite element biosonar model to simulate the detailed process of a finless porpoise click emission and target detection in order to gain a further understanding of the underlying physical mechanism. The numerical solutions of resonance features of both steel and acrylic cylinders in this study are very consistent with the analytic solutions. Furthermore, the simulated outgoing clicks and echoes match the experiment results measured by Nakahara et al. The beam patterns of the scattered field were extracted and the resonance features of cylinders in different materials were analyzed. This method in this study could be used to study some other odontocetes that are inaccessible for experimental work and could also provide physical information for intelligent biomimetic underwater signal processors design.

Finite element simulation of broadband biosonar signal propagation in the near- and far-field of an echolocating Atlantic bottlenose dolphin (Tursiops truncatus)

Bottlenose dolphins project broadband echolocation signals for detecting and locating prey and predators, and for spatial orientation. There are many unknowns concerning the specifics of biosonar signal production and propagation in the head of dolphins and this manuscript represents an effort to address this topic. A two-dimensional finite element model was constructed using high resolution CT scan data. The model simulated the acoustic processes in the vertical plane of the biosonar signal emitted from the phonic lips and propagated into the water through the animal's head. The acoustic field on the animal's forehead and the farfield transmission beam pattern of the echolocating dolphin were determined. The simulation results and prior acoustic measurements were qualitatively extremely consistent. The role of the main structures on the sound propagation pathway such as the air sacs, melon, and connective tissue was investigated. Furthermore, an investigation of the driving force at the phonic lips for dolphins that emit broadband echolocation signals and porpoises that emit narrowband echolocation signals suggested that the driving force is different for the two types of biosonar. Finally, the results provide a visual understanding of the sound transmission in dolphin's biosonar.

Objective detection and time-frequency localization of components within transient signals

An automatic component detection method for overlapping transient pulses in multi-component signals is presented and evaluated. The recently proposed scaled reassignment technique is shown to have the best achievable resolution for closely located Gaussian shaped transient pulses, even in heavy disruptive noise. As a result, the method automatically detects and counts the number of transients, giving the center times and center frequencies of all components with considerable accuracy. The presented method shows great potential for applications in several acoustic research fields, where coinciding Gaussian shaped transients are analyzed. The performance is tested on measured data from a laboratory pulse-echo setup and from a dolphin echolocation signal measured simultaneously at two different locations in the echolocation beam. Since the method requires little user input, it should be easily employed in a variety of research projects.

Elastic feature of cylindrical shells extraction in time-frequency domain using biomimetic dolphin click

A dolphin's biosonar may effectively discriminate subtle differences among targets. In order to investigate the possible physical mechanism of target discrimination, in this study, a finite element model excited by a biomimetic click pulse was proposed. The acoustic scattering field and stress distribution of a stainless steel shell were simulated. The biomimetic click experiments were then conducted to verify the theoretical predictions in an anechoic tank. The experimental results showed a good agreement with the model simulations. Furthermore, the elastic time-frequency features of three cylindrical shells with different wall thickness were obtained using a fractional Fourier transform filter to eliminate specular reflection and cross-term interference. To compare discrimination capacity of the time-frequency features with and without the specular reflection, a time-frequency correlator was applied to calculate the correlation coefficient between different shells. The results indicated that the time-frequency features can be represented in high resolution with less cross-term interference, and these features without specular reflection showed a good capacity to discriminate the shells with different wall thickness.

A simulation of temperature influence on echolocation click beams of the Indo-Pacific humpback dolphin (Sousa chinensis)

A finite element method was used to investigate the temperature influence on sound beams of the Indo-Pacific humpback dolphin. The numerical models of a dolphin, which originated from previous computed tomography (CT) scanning and physical measurement results, were used to investigate sound beam patterns of the dolphin in temperatures from 21 °C to 39 °C, in increments of 2 °C. The -3 dB beam widths across the temperatures ranged from 9.3° to 12.6°, and main beam angle ranged from 4.7° to 7.2° for these temperatures. The subsequent simulation suggested that the dolphin's sound beam patterns, side lobes in particular, were influenced by temperature.